{"id":20099093,"url":"https://github.com/ros2/rmw_gurumdds","last_synced_at":"2025-05-06T06:30:57.665Z","repository":{"id":37336114,"uuid":"190330009","full_name":"ros2/rmw_gurumdds","owner":"ros2","description":"Implementation of the ROS middleware interface using GurumNetworks GurumDDS.","archived":false,"fork":false,"pushed_at":"2024-10-25T01:59:59.000Z","size":952,"stargazers_count":13,"open_issues_count":2,"forks_count":11,"subscribers_count":4,"default_branch":"rolling","last_synced_at":"2024-10-25T02:14:19.062Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"http://gurum.cc","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ros2.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2019-06-05T05:14:53.000Z","updated_at":"2024-10-24T07:19:40.000Z","dependencies_parsed_at":"2024-03-27T05:32:37.662Z","dependency_job_id":"119e1e75-9df1-4bc4-bad0-2c1681a116f7","html_url":"https://github.com/ros2/rmw_gurumdds","commit_stats":null,"previous_names":[],"tags_count":123,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_gurumdds","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_gurumdds/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_gurumdds/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_gurumdds/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ros2","download_url":"https://codeload.github.com/ros2/rmw_gurumdds/tar.gz/refs/heads/rolling","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224490709,"owners_count":17319983,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T17:08:09.603Z","updated_at":"2024-11-13T17:08:10.296Z","avatar_url":"https://github.com/ros2.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# rmw_gurumdds\nImplementation of the ROS 2 middleware interface using [GurumNetworks GurumDDS](https://www.gurum.cc/index_eng).\nInstallation guide is available [here](https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.html).\n\n## Requirements\nRequired version of GurumDDS depends on the version of this project.\n| rmw_gurumdds             | GurumDDS                    |\n|--------------------------|-----------------------------|\n| \u003e= 5.0.0                 | \u003e= 3.2.0                    |\n| \u003e= 3.6.0, \u003c 5.0.0        | 3.1.x                       |\n| \u003e= 3.4.2, \u003c 3.6.0        | 3.0.x                       |\n| \u003e= 3.3.0, \u003c 3.4.2        | \u003e= 2.8.3165, \u003c 3.0.0        |\n| 3.2.x                    | \u003e= 2.8.3140, \u003c 2.8.3165     |\n| \u003e= 3.1.2, \u003c 3.2.0        | \u003e= 2.8.0, \u003c 2.8.3140        |\n| \u003c= 3.1.1                 | 2.7.x                       |\n\n## Packages\n### gurumdds_cmake_module\n`gurumdds_cmake_module` looks for GurumDDS, and provides the information to other packages.\n\nFor `gurumdds_cmake_module` to work properly, you need to set `GURUMDDS_HOME` environment variable to where GurumDDS is located.\n\nIf GurumDDS is normally installed through the debian package, `GURUMDDS_HOME` will be set automatically.\nFor example, if `GURUMDDS_HOME=~/gurumdds` is set, the directory `~/gurumdds` will be:\n```\ngurumdds\n├── include\n│   └── gurumdds\n│       ├── dcps.h\n│       ├── dcpsx.h\n│       ├── dds.h\n│       ├── typesupport.h\n│       └── xml.h\n└── lib\n    └── libgurumdds.so\n```\n\n### rmw_gurumdds_cpp\n`rmw_gurumdds_cpp` is the rmw implementation. You can use this rmw implementation by setting environment variable `RMW_IMPLEMENTATION=rmw_gurumdds_cpp` after installation.\n\nFor `rmw_gurumdds_cpp` to work properly, make sure to set environment variable `GURUMDDS_CONFIG=~/gurumdds.yaml` and set `allow_loopback` variable in `gurumdds.yaml` to `true`.\n\n`gurumdds.yaml` will be located in `/etc/gurumnet/gurumdds` if gurumdds is installed through the debian package.\n\nPlease note that YAML only supports spaces, not tabs, for indentation.\n```\nDATA:\n  allow_loopback: true\n  dynamic_buffer: true\n  mtu: auto # auto | number(1472)\n  bitmap_capacity: 256\n  buffer_capacity: 512\n```\n\n### demo_nodes_cpp_native_gurumdds\n`demo_nodes_cpp_natvie_gurumdds` is similar to `demo_nodes_cpp_native` from ROS2 `demos`. This demo shows how to access the native handles of `rmw_gurumdds_cpp`.\n\nThis package is disabled by default.\n\n## Branches\nThere are three active branches in this project: `rolling`, `jazzy`, and `humble`.\nNew changes made in [ROS2 repository](https://github.com/ros2) will be applied to the `rolling` branch.\n\n## Implementation Status\nFollowing features are not fully implemented yet.\n- DDS Security\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros2%2Frmw_gurumdds","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fros2%2Frmw_gurumdds","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros2%2Frmw_gurumdds/lists"}